Add gelatin and water; allow to soften.,Combine nonfat milk, evaporated skim milk, peanut butter and brown sugar in pan; cook over medium heat, stirring constantly with whisk.,Just before mixture comes to boil, remove from heat.,______,This does not ruin taste but appearance.),Add vanilla extract and gelatin; mix well.,Cool to room temperature.,Pour into 8 custard cups and refrigerate at least 4 hours before serving.